CN105867424B - Course line editing and processing method and apparatus - Google Patents
Course line editing and processing method and apparatus Download PDFInfo
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- CN105867424B CN105867424B CN201610404561.7A CN201610404561A CN105867424B CN 105867424 B CN105867424 B CN 105867424B CN 201610404561 A CN201610404561 A CN 201610404561A CN 105867424 B CN105867424 B CN 105867424B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of course line editing and processing method and apparatus, wherein, course line editing and processing method comprises the following steps：Generate the initial route of unmanned plane；Receive the amendment operation to initial route；The offset and the deviation angle for obtaining initial route are operated according to amendment, and revised course line is generated according to offset and the deviation angle.The course line editing and processing method and apparatus of the embodiment of the present invention, by initial route carry out offset correction, can efficiently solve initial route skew, can not the overwrite job area of coverage the problem of, improve unmanned plane during flying operating efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a route editing processing method and device.
Background
With the rapid development of science and technology, the application field of the unmanned aerial vehicle is more and more extensive, for example, the unmanned aerial vehicle can be applied to city management, agriculture, geology, meteorology, electric power, emergency rescue and relief, video shooting and the like. The flying path of the unmanned aerial vehicle during operation is the air route. The route mainly comprises a waypoint, an operation section and an operation coverage area. At present, an unmanned aerial vehicle air route is mainly generated by surveying landforms on site in advance through technicians, determining an operation coverage area, setting an operation section and then determining a waypoint. And finally, inputting the air route to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to the preset air route.
However, the technician may be unfamiliar with the topographical features of the actual job, resulting in a deviation of the set course that does not cover the job footprint. In addition, if the unmanned aerial vehicle has the condition that the residual battery capacity is insufficient or the air route cannot be completed due to a fault, the unmanned aerial vehicle needs to return to the home to repair the fault or re-execute air route flight operation after charging, the operation progress can be influenced, and the completed operation can be repeatedly executed. Therefore, it can be seen that the flight path is set in advance, and the above-mentioned situation cannot be handled flexibly, and the efficiency of flight work is poor.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, one purpose of the present invention is to provide a route editing processing method, which can effectively solve the problem that an initial route is offset and cannot cover an operation coverage area, and improve the flight operation efficiency of an unmanned aerial vehicle.
The second purpose of the invention is to provide a route editing processing device.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a lane editing processing method, including: generating an initial route of the unmanned aerial vehicle; receiving a correction operation on the initial route; obtaining the offset and the deflection angle of the initial route according to the correction operation; and generating a corrected route according to the offset and the deflection angle.
According to the flight path editing processing method, the initial flight path is subjected to offset correction, so that the problems that the initial flight path is offset and cannot cover the operation coverage area can be effectively solved, and the flight operation efficiency of the unmanned aerial vehicle is improved.
An embodiment of a second aspect of the present invention provides an airline editing processing apparatus, including: the first generation module is used for generating an initial route of the unmanned aerial vehicle; the receiving module is used for receiving correction operation on the initial route; the obtaining module is used for obtaining the offset and the deflection angle of the initial route according to the correction operation; and the correction module is used for generating a corrected route according to the offset and the deflection angle.
The flight path editing processing device provided by the embodiment of the invention can effectively solve the problems that the initial flight path is deviated and cannot cover the operation coverage area by performing deviation correction on the initial flight path, and improves the flight operation efficiency of the unmanned aerial vehicle.
Drawings
FIG. 1 is a flow diagram of a airline editing process according to one embodiment of the present invention;
FIG. 2 is a schematic illustration of the effect of an initial flight path according to one embodiment of the invention;
FIG. 3 is a schematic diagram of the effect of an offset setting interface according to one embodiment of the invention;
FIG. 4 is a flow diagram for generating a corrected course based on an offset and a deviation angle according to one embodiment of the present invention;
FIG. 5 is a graph illustrating the effect of comparing an initial course with a corrected course;
FIG. 6 is a flow diagram of a airline editing process according to another embodiment of the present invention;
FIG. 7 is a schematic illustration of the effects of a job segment selection interface according to another embodiment of the present invention;
FIG. 8 is a schematic illustration of a route effect generated by selecting a work segment according to another embodiment of the present invention;
FIG. 9 is a first schematic structural diagram of a route edit processing apparatus according to an embodiment of the present invention;
FIG. 10 is a second schematic structural diagram of a lane edit processing apparatus according to an embodiment of the present invention;
FIG. 11 is a schematic configuration diagram of a route edit processing apparatus according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a route edit processing method and apparatus of an embodiment of the present invention with reference to the drawings.
FIG. 1 is a flow diagram of a airline editing process according to one embodiment of the invention.
As shown in FIG. 1, the airline editing process may include:
and S1, generating an initial route of the unmanned aerial vehicle.
Specifically, the coordinates of all waypoints can be acquired, and the initial route of the unmanned aerial vehicle is generated according to the coordinates.
Wherein the coordinates may be represented by longitude and latitude. For example, as shown in fig. 2, a work coverage area 30 may be surveyed, and a corresponding work segment 20 planned from the work coverage area 30. From the end points of each work section 20, the corresponding waypoints 10 are then determined. The coordinates of each waypoint 10 are obtained and finally an initial course of the drone can be generated. The circles in the figure represent waypoints 10 and the thick vertical lines represent work sections 20.
And S2, receiving a correction operation on the initial route.
As shown in FIG. 3, the user may effect a correction to the initial course by activating the "front", "back", "left" and "right" buttons in the offset setting interface. For example, the offset can be shifted to the right by 1 meter by pressing the offset 0.5 meter and pressing the right button; pressing the "back" button three times, the offset could be 1.5 meters backwards. Of course, there is also a "restore position" button in the offset setting interface that can be activated to restore the original route.
And S3, acquiring the offset and the deflection angle of the initial route according to the correction operation, and generating a corrected route according to the offset and the deflection angle.
Specifically, as shown in fig. 4, S3 may include the following sub-steps:
s301, acquiring a first coordinate of a first waypoint and a second coordinate of a second waypoint in the initial route.
The first waypoint is the first waypoint through which the unmanned aerial vehicle performs work, such as 30.88 degrees north latitude and 40.24 degrees east longitude. The second waypoint is the second waypoint through which the unmanned aerial vehicle performs work, such as 30.12 degrees north latitude and 40.68 degrees east longitude.
S302, determining the flight direction of the unmanned aerial vehicle according to the first coordinate and the second coordinate.
After the first coordinate and the second coordinate are obtained, the flight direction of the unmanned aerial vehicle can be calculated, namely, a linear equation is determined by two points, and the angle between the flight direction of the unmanned aerial vehicle and the north-south direction and the east-west direction of the geographic coordinate system can be determined. For example: knowing the coordinates (longitude and latitude) of the starting point and the ending point, the included angle between the flight direction and the true north is calculated to be 30 degrees, and the included angle between the flight direction and the true east is calculated to be 60 degrees.
It will be appreciated that the direction of flight, determined by the coordinates of the first waypoint and the second waypoint of the route, both defaults to the positive direction of the route. If the drone is flying 180 degrees in the opposite direction, the direction is negative. The correction operations of the initial course are all operations performed for a positive direction.
S303, determining the forward and backward offset and the forward and backward deviation angle of the initial route according to the correction operation and the flight direction, and correcting the initial route to be the first route.
S304, determining the left and right offset and the left and right deflection angles of the initial route according to the correction operation and the flight direction, and correcting the first route into a second route.
And S305, taking the second route as a corrected route.
For example, the forward-aft offset oY and the left-right offset oX of the lane may be obtained from the correction operation. And taking the first operation section of the original route as a reference line, and defaulting the forward flight direction of the operation section to be a positive direction. The forward and backward deviation angle aY and the left and right deviation angle aX of the forward direction of the flight path can be calculated through the two waypoints of the operation section. And calculating all waypoints of the initial route with the forward and backward deviation angle aY and the forward and backward offset oY to obtain a first route.
And then, calculating all waypoints of the first route with a left deviation angle aX and a right deviation amount oX to obtain a second route.
As shown in FIG. 5, the corrected course is offset to the right by 1.5 meters and to the back by 1.5 meters relative to the original course.
After the initial air route is corrected, the unmanned aerial vehicle can be controlled to fly according to the corrected air route, so that the problem that the initial air route deviates and cannot cover the operation coverage area is solved.
According to the flight path editing processing method, the initial flight path is subjected to offset correction, so that the problems that the initial flight path is offset and cannot cover the operation coverage area can be effectively solved, and the flight operation efficiency of the unmanned aerial vehicle is improved.
FIG. 6 is a flow diagram of a airline editing process according to another embodiment of the present invention.
As shown in FIG. 6, the airline editing process may include:
and S1, generating an initial route of the unmanned aerial vehicle.
And S2, receiving a correction operation on the initial route.
And S3, acquiring the offset and the deflection angle of the initial route according to the correction operation, and generating a corrected route according to the offset and the deflection angle.
The steps S1-S3 are the same as those described in the previous embodiment, and are not described herein again.
And S4, receiving selection operation of a plurality of operation segments.
As shown in fig. 7, in the selected work section interface, a flight route work section number may be displayed, each work section number corresponds to a switch button, and if the buttons of work sections 2 and 6 are off, it indicates that the second work section and the sixth work section are not selected.
And S5, generating a third route according to the selection operation.
Specifically, the selected operation section in the initial route can be deleted according to the selection operation to generate a third route. As shown in fig. 8, the second and sixth work segments may be deleted, and a route composed of the first, third, fourth, and fifth work segments may be generated.
It should be understood that steps S4 and S5 are not limited to being after the corrected course process, but may be before the corrected course process.
According to the route editing processing method provided by the embodiment of the invention, the corresponding flight route is generated by selecting different operation sections, so that the problems that repeated operation is performed or the whole route cannot be completed due to insufficient battery residual capacity can be effectively solved, and the flight operation efficiency is further improved.
In order to achieve the purpose, the invention further provides a route editing processing device.
FIG. 9 is a first schematic structural diagram of a route edit processing apparatus according to an embodiment of the present invention.
As shown in fig. 9, the airline edit processing device may include: a first generation module 110, a receiving module 120 and a modification module 130.
The first generation module 110 is used to generate an initial course of the drone. Specifically, the coordinates of all waypoints can be acquired, and the initial route of the unmanned aerial vehicle is generated according to the coordinates.
Wherein the coordinates may be represented by longitude and latitude. For example, as shown in fig. 2, a work coverage area 30 may be surveyed, and a corresponding work segment 20 planned from the work coverage area 30. From the end points of each work section 20, the corresponding waypoints 10 are then determined. The coordinates of each waypoint 10 are obtained and finally an initial course of the drone can be generated. The circles in the figure represent waypoints 10 and the thick vertical lines represent work sections 20.
The receiving module 120 is used for receiving a correcting operation on an initial route. As shown in FIG. 3, the user may effect a correction to the initial course by activating the "front", "back", "left" and "right" buttons in the offset setting interface. For example, the offset can be shifted to the right by 1 meter by pressing the offset 0.5 meter and pressing the right button; pressing the "back" button three times, the offset could be 1.5 meters backwards. Of course, there is also a "restore position" button in the offset setting interface that can be activated to restore the original route.
The correction module 130 is configured to obtain an offset and a deflection angle of the initial route according to the correction operation, and generate a corrected route according to the offset and the deflection angle.
The modification module 130 may include an obtaining unit 131, a determining unit 132, a first modifying unit 133, a second modifying unit 134, and a processing unit 135.
The obtaining unit 131 is configured to obtain a first coordinate of a first waypoint and a second coordinate of a second waypoint in the initial route. The first waypoint is the first waypoint through which the unmanned aerial vehicle performs work, such as 30.88 degrees north latitude and 40.24 degrees east longitude. The second waypoint is the second waypoint through which the unmanned aerial vehicle performs work, such as 30.12 degrees north latitude and 40.68 degrees east longitude.
The determining unit 132 is configured to determine the flight direction of the drone according to the first and second coordinates. After acquiring the first coordinate and the second coordinate, the determining unit 132 may calculate the flight direction of the drone, that is, two points determine a straight line equation, and may determine the angle between the flight direction of the drone and the north-south direction and the east-west direction of the geographic coordinate system. For example: knowing the coordinates (longitude and latitude) of the starting point and the ending point, the included angle between the flight direction and the true north is calculated to be 30 degrees, and the included angle between the flight direction and the true east is calculated to be 60 degrees.
It will be appreciated that the direction of flight, determined by the coordinates of the first waypoint and the second waypoint of the route, both defaults to the positive direction of the route. If the drone is flying 180 degrees in the opposite direction, the direction is negative. The correction operations of the initial course are all operations performed for a positive direction.
The first correcting unit 133 is configured to determine a forward-backward offset and a forward-backward deviation angle of the initial route according to the correcting operation and the flight direction, and correct the initial route to the first route.
The second correcting unit 134 is used for determining the left-right offset and the left-right deflection angle of the initial route according to the correcting operation and the flight direction, and correcting the first route into a second route.
The processing unit 135 is used to take the second route as the corrected route.
For example, the forward-aft offset oY and the left-right offset oX of the lane may be obtained from the correction operation. And taking the first operation section of the original route as a reference line, and defaulting the forward flight direction of the operation section to be a positive direction. The forward and backward deviation angle aY and the left and right deviation angle aX of the forward direction of the flight path can be calculated through the two waypoints of the operation section. And calculating all waypoints of the initial route with the forward and backward deviation angle aY and the forward and backward offset oY to obtain a first route.
And then, calculating all waypoints of the first route with a left deviation angle aX and a right deviation amount oX to obtain a second route.
As shown in FIG. 5, the corrected course is offset to the right by 1.5 meters and to the back by 1.5 meters relative to the original course.
In addition, as shown in fig. 10, the lane editing processing apparatus of the present embodiment may further include a control module 140.
The control module 140 is configured to control the unmanned aerial vehicle to fly according to the corrected route after the second route is used as the corrected route, so as to solve the problem that the initial route is offset and cannot cover the operation coverage area.
The flight path editing processing device provided by the embodiment of the invention can effectively solve the problems that the initial flight path is deviated and cannot cover the operation coverage area by performing deviation correction on the initial flight path, and improves the flight operation efficiency of the unmanned aerial vehicle.
FIG. 11 is a schematic configuration diagram of a route edit processing apparatus according to another embodiment of the present invention.
As shown in fig. 11, the lane edit processing device may include: a first generating module 110, a receiving module 120, a modifying module 130, a control module 140, a selecting module 150, and a second generating module 160.
The first generating module 110, the receiving module 120, the correcting module 130, and the controlling module 140 are the same as those described in the previous embodiment, and are not described herein again.
The selection module 150 is configured to receive a selection operation for a plurality of job segments. As shown in fig. 7, in the selected work section interface, a flight route work section number may be displayed, each work section number corresponds to a switch button, and if the buttons of work sections 2 and 6 are off, it indicates that the second work section and the sixth work section are not selected.
The second generating module 160 is configured to generate a third lane according to the selecting operation. Specifically, the selected operation section in the initial route can be deleted according to the selection operation to generate a third route. As shown in fig. 8, the second and sixth work segments may be deleted, and a route composed of the first, third, fourth, and fifth work segments may be generated.
According to the route editing and processing device, the corresponding flight route is generated by selecting different operation sections, so that the problems that repeated operation is performed or the whole route cannot be completed due to insufficient battery residual capacity can be effectively solved, and the flight operation efficiency is further improved.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A method for processing route editing, comprising the steps of:
generating an initial route of the unmanned aerial vehicle;
receiving a correction operation on the initial route;
acquiring offset and a deflection angle of the initial route according to the correction operation, and generating a corrected route according to the offset and the deflection angle;
wherein,
obtaining the offset and the deflection angle of the initial route according to the correction operation, and generating a corrected route according to the offset and the deflection angle comprises the following steps:
acquiring a first coordinate of a first waypoint and a second coordinate of a second waypoint in the initial route;
determining the flight direction of the unmanned aerial vehicle according to the first coordinate and the second coordinate;
determining the front-back offset and the front-back deflection angle of the initial route according to the correction operation and the flight direction, and correcting the initial route into a first route;
determining a left offset, a right offset and a left deviation angle of the initial route according to the correction operation and the flight direction, and correcting the first route into a second route;
taking the second route as a corrected route;
after the second route is taken as a corrected route, the method further comprises the following steps:
and controlling the unmanned aerial vehicle to fly according to the corrected air route.
2. The method of claim 1, wherein the initial flight path and the revised flight path are comprised of a plurality of work sections.
3. The method of claim 2, further comprising:
receiving a selection operation of the plurality of operation sections;
and generating a third route according to the selection operation.
4. The method of claim 3, wherein generating a third lane in accordance with the selection operation comprises:
and deleting the selected operation section in the initial route according to the selection operation so as to generate the third route.
5. An airline edit processing apparatus, comprising:
the first generation module is used for generating an initial route of the unmanned aerial vehicle;
the receiving module is used for receiving correction operation on the initial route;
the correction module is used for acquiring the offset and the deflection angle of the initial route according to the correction operation and generating a corrected route according to the offset and the deflection angle;
wherein,
the correction module comprises:
the acquiring unit is used for acquiring a first coordinate of a first waypoint and a second coordinate of a second waypoint in the initial route;
the determining unit is used for determining the flight direction of the unmanned aerial vehicle according to the first coordinate and the second coordinate;
the first correcting unit is used for determining the front-back offset and the front-back deflection angle of the initial route according to the correcting operation and the flight direction and correcting the initial route into a first route;
the second correction unit is used for determining the left-right offset and the left-right deflection angle of the initial route according to the correction operation and the flight direction and correcting the first route into a second route;
the processing unit is used for taking the second air route as a corrected air route;
the device further comprises:
and the control module is used for controlling the unmanned aerial vehicle to fly according to the corrected air route after the second air route is used as the corrected air route.
6. The apparatus of claim 5, wherein the initial flight path and the revised flight path are comprised of a plurality of work sections.
7. The apparatus of claim 6, wherein the apparatus further comprises:
a selection module for receiving a selection operation for the plurality of job segments;
and the second generation module is used for generating a third air route according to the selection operation.
8. The apparatus of claim 7, wherein the second generating module is to:
and deleting the selected operation section in the initial route according to the selection operation so as to generate the third route.
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| CN104407586A (en) * | 2014-11-14 | 2015-03-11 | 山东农业大学 | Drive decoupled plant protection unmanned aerial vehicle control system and control method |
| CN105573340A (en) * | 2016-01-15 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Anti-crosswind flight control method for fixed wing unmanned plane |
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